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firestar5683
2026-09-10 22:22:56 -05:00
parent ecbd6362f7
commit f1cb143bd7
3 changed files with 78 additions and 27 deletions
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opendbc_repo/opendbc/car/gm/carcontroller.py
+4 -1
View File
@@ -1159,7 +1159,10 @@ class CarController(CarControllerBase):
if should_send_cc_button_spam(self.CP, CC, CS):
if self.CP.carFingerprint != CAR.CADILLAC_XT4_CC:
# Using extend instead of append since the message is only sent intermittently
can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators, starpilot_toggles))
lead_visible = bool(getattr(CS, "openpilot_lead_visible", CC.hudControl.leadVisible))
can_sends.extend(gmcan.create_gm_cc_spam_command(
self.packer_pt, self, CS, actuators, starpilot_toggles, lead_visible=lead_visible,
))
else:
if (CS.out.cruiseState.enabled and CC.enabled and self.frame % 52 == 0 and
CS.cruise_buttons == CruiseButtons.UNPRESS and CS.out.gasPressed and CS.out.cruiseState.speed < CS.out.vEgo < hud_v_cruise):
opendbc_repo/opendbc/car/gm/gmcan.py
+11 -13
View File
@@ -31,8 +31,8 @@ BOLT_CC_DIRECTION_MEMORY_S = 1.5
VOLT_CC_CARS = {
CAR.CHEVROLET_VOLT_CC,
}
VOLT_CC_TARGET_DEADBAND_MPH = 5.0
VOLT_CC_ACCEL_DEADBAND_MS2 = 0.15
VOLT_CC_FREE_REQUEST_DEADBAND_MPH = 5.0
VOLT_CC_LEAD_REQUEST_DEADBAND_MPH = 2.0
def malibu_phase_map_for_button(button):
@@ -341,20 +341,18 @@ def stabilize_bolt_cc_button(controller, CP, requested_button):
return requested_button
def _create_volt_cc_spam_command(CS, actuators, ms_convert):
def _create_volt_cc_spam_command(CS, actuators, ms_convert, lead_visible):
accel = float(actuators.accel)
speed_setpoint = int(round(CS.out.cruiseState.speed * ms_convert))
ego_speed = CS.out.vEgo * ms_convert
requested_setpoint = (CS.out.vEgo * 1.01 + 3 * accel) * ms_convert
deadband_mph = VOLT_CC_LEAD_REQUEST_DEADBAND_MPH if lead_visible else VOLT_CC_FREE_REQUEST_DEADBAND_MPH
request_deadband = deadband_mph * (CV.MPH_TO_KPH if ms_convert == CV.MS_TO_KPH else 1.0)
v_cruise_kph = float(getattr(CS.out, "vCruise", 0.0))
if 0.0 < v_cruise_kph < 255.0:
is_metric = ms_convert == CV.MS_TO_KPH
target_setpoint = v_cruise_kph if is_metric else v_cruise_kph * CV.KPH_TO_MPH
target_deadband = VOLT_CC_TARGET_DEADBAND_MPH * (CV.MPH_TO_KPH if is_metric else 1.0)
if abs(target_setpoint - speed_setpoint) <= target_deadband:
return CruiseButtons.INIT, float("inf")
if abs(requested_setpoint - speed_setpoint) <= request_deadband:
return CruiseButtons.INIT, float("inf")
if abs(accel) <= VOLT_CC_ACCEL_DEADBAND_MS2:
if accel == 0.0:
return CruiseButtons.INIT, float("inf")
if accel < 0.0:
@@ -371,7 +369,7 @@ def _create_volt_cc_spam_command(CS, actuators, ms_convert):
return CruiseButtons.RES_ACCEL, rate
def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggles):
def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggles, lead_visible=False):
accel = actuators.accel
v_ego = CS.out.vEgo
cruise_btn = CruiseButtons.INIT
@@ -386,7 +384,7 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggl
comparison_setpoint = projected_setpoint if bolt_cc else desired_setpoint
if CS.CP.carFingerprint in VOLT_CC_CARS:
cruise_btn, rate = _create_volt_cc_spam_command(CS, actuators, ms_convert)
cruise_btn, rate = _create_volt_cc_spam_command(CS, actuators, ms_convert, lead_visible)
else:
if CS.CP.minEnableSpeed - (desired_setpoint / ms_convert) > 3.25:
cruise_btn = CruiseButtons.CANCEL
opendbc_repo/opendbc/car/gm/tests/test_gm.py
+63 -13
View File
@@ -919,7 +919,7 @@ class TestGMCarController:
def test_volt_cc_redneck_rate_limits_setpoint_changes_by_planner_acceleration(self):
packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
controller = SimpleNamespace(frame=int(0.5 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
controller = SimpleNamespace(frame=int(0.2 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
cs = SimpleNamespace(
CP=SimpleNamespace(
carFingerprint=CAR.CHEVROLET_VOLT_CC,
@@ -935,19 +935,19 @@ class TestGMCarController:
)
msgs = gmcan.create_gm_cc_spam_command(
packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True),
packer, controller, cs, SimpleNamespace(accel=1.0), SimpleNamespace(is_metric=True),
)
assert msgs == []
controller.frame = int(0.7 / DT_CTRL)
controller.frame = int(0.3 / DT_CTRL)
msgs = gmcan.create_gm_cc_spam_command(
packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True),
packer, controller, cs, SimpleNamespace(accel=1.0), SimpleNamespace(is_metric=True),
)
assert len(msgs) == 1
def test_volt_cc_redneck_holds_when_stock_setpoint_is_within_target_deadband(self):
def test_volt_cc_redneck_holds_when_pseudo_speed_request_is_within_deadband(self):
packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
controller = SimpleNamespace(frame=int(2.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
cs = SimpleNamespace(
@@ -972,9 +972,9 @@ class TestGMCarController:
assert msgs == []
assert controller.apply_speed == 99
def test_volt_cc_redneck_catches_up_when_target_exceeds_deadband(self):
def test_volt_cc_redneck_uses_smaller_request_deadband_with_lead(self):
packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
controller = SimpleNamespace(frame=int(0.5 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
controller = SimpleNamespace(frame=int(2.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
cs = SimpleNamespace(
CP=SimpleNamespace(
carFingerprint=CAR.CHEVROLET_VOLT_CC,
@@ -984,25 +984,75 @@ class TestGMCarController:
),
buttons_counter=2,
out=SimpleNamespace(
vEgo=90.0 * CV.KPH_TO_MS,
cruiseState=SimpleNamespace(speed=90.0 * CV.KPH_TO_MS),
vEgo=100.0 * CV.KPH_TO_MS,
cruiseState=SimpleNamespace(speed=99.0 * CV.KPH_TO_MS),
vCruise=100.0,
),
)
msgs = gmcan.create_gm_cc_spam_command(
packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True),
packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True), lead_visible=True,
)
assert len(msgs) == 1
assert controller.apply_speed == 100
def test_volt_cc_redneck_accelerates_when_pseudo_speed_request_exceeds_deadband(self):
packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
controller = SimpleNamespace(frame=int(0.1 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
cs = SimpleNamespace(
CP=SimpleNamespace(
carFingerprint=CAR.CHEVROLET_VOLT_CC,
flags=GMFlags.NO_CAMERA.value,
networkLocation=structs.CarParams.NetworkLocation.gateway,
minEnableSpeed=0.0,
),
buttons_counter=2,
out=SimpleNamespace(
vEgo=44.0 * CV.KPH_TO_MS,
cruiseState=SimpleNamespace(speed=44.0 * CV.KPH_TO_MS),
vCruise=50.0,
),
)
msgs = gmcan.create_gm_cc_spam_command(
packer, controller, cs, SimpleNamespace(accel=2.0), SimpleNamespace(is_metric=True),
)
assert msgs == []
controller.frame = int(0.7 / DT_CTRL)
controller.frame = int(0.3 / DT_CTRL)
msgs = gmcan.create_gm_cc_spam_command(
packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True),
packer, controller, cs, SimpleNamespace(accel=2.0), SimpleNamespace(is_metric=True),
)
assert len(msgs) == 1
assert controller.apply_speed == 91
assert controller.apply_speed == 45
def test_volt_cc_redneck_brakes_when_pseudo_speed_request_exceeds_deadband(self):
packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
controller = SimpleNamespace(frame=int(0.3 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
cs = SimpleNamespace(
CP=SimpleNamespace(
carFingerprint=CAR.CHEVROLET_VOLT_CC,
flags=GMFlags.NO_CAMERA.value,
networkLocation=structs.CarParams.NetworkLocation.gateway,
minEnableSpeed=0.0,
),
buttons_counter=2,
out=SimpleNamespace(
vEgo=50.7 * CV.KPH_TO_MS,
cruiseState=SimpleNamespace(speed=49.0 * CV.KPH_TO_MS),
vCruise=50.0,
),
)
msgs = gmcan.create_gm_cc_spam_command(
packer, controller, cs, SimpleNamespace(accel=-1.36), SimpleNamespace(is_metric=True),
)
assert len(msgs) == 1
assert controller.apply_speed == 48
def test_volt_cc_no_camera_redneck_spam_stays_on_powertrain_bus(self):
packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])